00001 /* 00002 * UOS-ROS packages - Robot Operating System code by the University of Osnabrück 00003 * Copyright (C) 2010 University of Osnabrück 00004 * 00005 * This program is free software; you can redistribute it and/or 00006 * modify it under the terms of the GNU General Public License 00007 * as published by the Free Software Foundation; either version 2 00008 * of the License, or (at your option) any later version. 00009 * 00010 * This program is distributed in the hope that it will be useful, 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00013 * GNU General Public License for more details. 00014 * 00015 * You should have received a copy of the GNU General Public License 00016 * along with this program; if not, write to the Free Software 00017 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00018 * 00019 * non_constraint_aware_ik_adapter.h 00020 * 00021 * Created on: 09.01.2011 00022 * Author: Martin Günther <mguenthe@uos.de> 00023 */ 00024 00025 #ifndef NON_CONSTRAINT_AWARE_IK_ADAPTER_H_ 00026 #define NON_CONSTRAINT_AWARE_IK_ADAPTER_H_ 00027 00028 #include <ros/ros.h> 00029 00030 #include <kinematics_msgs/GetConstraintAwarePositionIK.h> 00031 #include <kinematics_msgs/GetPositionIK.h> 00032 00033 namespace katana_kinematics_constraint_aware 00034 { 00035 00036 00037 class NonConstraintAwareIKAdapter 00038 { 00039 public: 00040 NonConstraintAwareIKAdapter(); 00041 virtual ~NonConstraintAwareIKAdapter(); 00042 }; 00043 00044 } 00045 00046 #endif /* NON_CONSTRAINT_AWARE_IK_ADAPTER_H_ */